noun
using someone's lap as a pillow
Refers to the act of resting one's head on another person's lap, often in an intimate or caring context.
彼女は彼に膝枕をしてあげた。
She let him rest his head on her lap.
公園で膝枕をしてもらって昼寝した。
I took a nap in the park with my head on someone's lap.